CN114987470A

CN114987470A - Automatic driving vehicle control method and device and electronic equipment

Info

Publication number: CN114987470A
Application number: CN202210688647.2A
Authority: CN
Inventors: 高超; 曹欣; 王隆钢
Original assignee: Suzhou Zhitu Technology Co Ltd
Current assignee: Suzhou Zhitu Technology Co Ltd
Priority date: 2022-06-16
Filing date: 2022-06-16
Publication date: 2022-09-02

Abstract

The application provides a control method, a device and electronic equipment for an automatic driving vehicle, wherein the method comprises the following steps: the method comprises the steps of determining the relative speed and the relative distance between a vehicle and a front vehicle according to acquired information of a first vehicle speed, a second vehicle speed and a vehicle distance, determining the running state of the vehicle according to the relative speed, the relative distance and a preset running state curve, and controlling the vehicle to run at a coasting deceleration speed without braking deceleration when the vehicle is in a coasting control state, so that frequent switching between driving and braking is avoided, oil consumption is effectively saved, the coasting deceleration speed is stably reduced by using the coasting deceleration speed between the driving and the braking, and the riding experience of passengers is improved.

Description

Automatic driving vehicle control method and device and electronic equipment

Technical Field

The present application relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for controlling an automatic driving vehicle, and an electronic device.

Background

With the development of current electronic equipment and the progress of automobile intellectualization accelerating, the number of intelligent auxiliary devices on the current vehicle is increasing, and more intelligent driving experience and better safety assistance are provided for a driver. In particular, in recent years, the field of intelligent driving of commercial vehicles has developed rapidly.

In the existing scheme, from the perspective of safety, in order to pursue the accuracy of the following distance and the following speed, frequent braking and driving switching can be performed in the driving process, and the oil consumption of an unmanned vehicle can be increased, so that the fuel economy and the riding experience of the vehicle can not be guaranteed.

Disclosure of Invention

In view of the above, an object of the present application is to provide a method and an apparatus for controlling an autonomous vehicle, and an electronic device, so as to save fuel consumption and improve riding experience.

In a first aspect, an embodiment of the present application provides an autonomous vehicle control method, which is applied to a controller of an autonomous vehicle, and includes: acquiring a first speed of an automatic driving vehicle, a second speed of a front vehicle and a vehicle distance between the automatic driving vehicle and the front vehicle; determining a relative speed and a relative distance between the automatic driving vehicle and a front vehicle according to the first speed, the second speed and the distance; determining the running state of the automatic driving vehicle according to the relative speed, the relative distance and a preset running state curve; the preset running state curve is generated according to historical relative speed and historical relative distance, and the running state at least comprises a cruise control state, a sliding control state and a following control state; and if the running state is a coasting control state, controlling the autonomous vehicle to perform deceleration running at the coasting deceleration.

Further, the method further comprises: if the driving state is the cruise control state, controlling the automatic driving vehicle to drive at the current acceleration; if the running state is the following control state, controlling the automatic driving vehicle to perform deceleration running at the set deceleration; wherein the set deceleration is greater than the coasting deceleration.

Further, the determining the driving state of the autonomous vehicle according to the relative vehicle speed, the relative vehicle distance, and the preset driving state curve includes: dividing a preset coordinate system into a cruise control area, a sliding control area and a following control area according to a preset driving state curve; the preset coordinate system is a coordinate system which is formed by taking the relative speed of the automatic driving vehicle and the front vehicle as an abscissa and the relative vehicle distance of the automatic driving vehicle and the front vehicle as an ordinate; and determining the running state of the automatic driving vehicle according to the area where the coordinate points of the relative speed and the relative distance in the preset coordinate system are located.

Further, the step of dividing the preset coordinate system into a cruise control area, a coasting control area, and a following control area according to the preset driving state curve includes: in a target quadrant in a preset coordinate system, determining an area formed by coordinate points of which the relative vehicle distance is between 0 and a preset driving state curve as a vehicle following control area; determining an area formed by coordinate points of the relative vehicle distance between the preset driving state curve and the specified straight line as a sliding control area; wherein the slope of the designated line is determined based on a preset driving state curve and a maximum detection distance corresponding to the autonomous vehicle; the other regions in the target quadrant except for the following control region and the coasting control region are determined as the cruise control region.

Further, the method further comprises: dividing a following control area into at least two sub-areas according to historical driving information of the automatic driving vehicle; the historical driving information is used for representing the driving habits of a driver, and the maximum relative distance corresponding to the first sub-area in any two adjacent sub-areas is equal to the minimum relative distance corresponding to the second sub-area; and when the relative distance corresponding to the automatic driving vehicle is positioned in the target subarea, controlling the deceleration of the automatic driving vehicle to be larger than the minimum deceleration corresponding to the target subarea.

Further, the step of dividing the following control area into at least two sub-areas according to the historical driving information includes: determining a driving attribute from historical driving information of the autonomous vehicle; the driving attributes comprise conservative attributes and aggressive attributes; determining the number of sub-regions in the following control region according to the driving attributes, wherein the number of the sub-regions corresponding to the conservative attribute is smaller than the number of the sub-regions corresponding to the aggressive attribute; and dividing the following vehicle control area into a plurality of sub-areas according to the determined number of the sub-areas.

Further, the method further comprises: adjusting the occupation ratio of a cruise control area, a coasting control area and a following control area according to historical driving information of the automatically driven vehicle; wherein the historical driving information is used to characterize driving habits of the autonomous vehicle.

In a second aspect, an embodiment of the present application further provides an autonomous vehicle control apparatus, which is applied to a controller of an autonomous vehicle, and includes: the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring a first vehicle speed of an automatic driving vehicle, a second vehicle speed of a front vehicle and a vehicle distance between the automatic driving vehicle and the front vehicle; the relative information determining module is used for determining the relative speed and the relative distance between the automatic driving vehicle and the front vehicle according to the first speed, the second speed and the distance; the driving state determining module is used for determining the driving state of the automatic driving vehicle according to the relative speed, the relative distance and a preset driving state curve; the preset running state curve is generated according to historical relative speed and historical relative distance, and the running state at least comprises a cruise control state, a sliding control state and a following control state; and the control module is used for controlling the automatic driving vehicle to perform deceleration driving at the coasting deceleration if the driving state is the coasting control state.

In a third aspect, an embodiment of the present application further provides an electronic device, which includes a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the above-mentioned autonomous vehicle control method in the first aspect.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the autonomous vehicle control method of the first aspect described above.

Compared with the prior art, the embodiment of the application has the following beneficial effects:

according to the control method, the control device and the electronic equipment for the automatic driving vehicle, firstly, the relative speed and the relative distance between the vehicle and the front vehicle are determined according to the acquired first vehicle speed, second vehicle speed and vehicle distance information, the driving state of the vehicle is determined according to the relative speed, the relative distance and a preset driving state curve, and when the vehicle is in a sliding control state, the vehicle is controlled to decelerate at a sliding deceleration without braking deceleration, so that frequent switching between driving and braking is avoided, the oil consumption is effectively saved, the sliding deceleration is used between the driving and the braking to decelerate stably, and the riding experience of a rider is improved.

Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of a hardware configuration of the present autonomous vehicle;

FIG. 2 is a flow chart of a method for controlling an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 3 is a flow chart of another method of controlling an autonomous vehicle provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a default coordinate system according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a vehicle following stage braking provided in the embodiment of the present application;

FIG. 6 is a flowchart of an autonomous vehicle control method in a practical application scenario according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of an automatic driving vehicle control device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

With the development of current electronic equipment and the progress of automobile intellectualization accelerating, the number of intelligent auxiliary devices on the current vehicle is increasing, and more intelligent driving experience and better safety assistance are provided for a driver. Particularly in recent years, the intelligent driving field of the commercial vehicle is rapidly developed, and compared with a passenger vehicle, the demand of the commercial vehicle on the fuel economy of an intelligent driving function is more urgent.

In the past scheme, fuel economy is more important factors considered by finished automobile parts such as an engine and a gearbox, fuel economy performance is also used as an important link of longitudinal car following control, and a commercial vehicle car following control technology capable of optimizing based on fuel economy and driver riding experience is provided. Compared with a passenger vehicle, the commercial vehicle has larger sliding deceleration of the vehicle and larger anti-drag torque of an engine, and more functions in the past can frequently switch braking and driving in the driving process in order to pursue the accuracy of the following distance and the following speed, so that the fuel economy of the vehicle and the riding experience of a driver cannot be guaranteed.

Based on this, the embodiment of the application provides an automatic driving vehicle control method, an automatic driving vehicle control device and electronic equipment, so that oil consumption is saved and riding experience is improved.

Before explaining the embodiments of the present invention in detail, a hardware configuration of an autonomous vehicle according to the embodiments of the present invention will be described. Referring to the schematic hardware architecture of the autonomous vehicle shown in fig. 1, the autonomous vehicle 100 includes one or more processing devices 102, one or more memory devices 104. Optionally, the autonomous vehicle 100 may also include an input device 106, an output device 108, and one or more information gathering devices 110, which may be interconnected via a bus system 112 and/or other form of connection mechanism (not shown). It should be noted that the components and configuration of autonomous vehicle 100 shown in FIG. 1 are exemplary only and not intended to be limiting, and that autonomous vehicles may have some of the components of FIG. 1, as well as other components and configurations, as desired.

Processing device 102 may be a device containing a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, may process data for other components in autonomous vehicle 100, and may control other components in autonomous vehicle 100 to perform autonomous vehicle control functions.

Storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer-readable storage medium and executed by processing device 102 to implement the client functionality (implemented by the processing device) of the embodiments of the present application described below and/or other desired functionality. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.

The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like.

The information-gathering device 110 may obtain information such as speed or distance and store the gathered information in the storage 104 for use by other components.

For example, the devices used for implementing the method, apparatus and electronic device for controlling an autonomous vehicle according to the embodiment of the present application may be integrally disposed or may be disposed in a distributed manner, such as integrally disposing the processing device 102, the storage device 104, the input device 106 and the output device 108, and disposing the information collecting device 110 at a designated position where information can be collected.

Fig. 2 is a flowchart of a control method for an autonomous vehicle, which is provided in an embodiment of the present application and is applied to a controller of the autonomous vehicle, and with reference to fig. 2, the method includes the following steps:

s202: acquiring a first speed of an automatic driving vehicle, a second speed of a front vehicle and a vehicle distance between the automatic driving vehicle and the front vehicle;

during the running of the vehicle, the control is divided into lateral control and longitudinal control, wherein the lateral control mainly refers to the steering control of the vehicle, such as lane keeping and automatic lane changing turning, belonging to the lateral control of the vehicle. The longitudinal control of the vehicle mainly comprises two aspects, namely cruise control on the one hand and follow-up control on the other hand.

The cruise control means that no front vehicle exists within a preset distance from the front of the vehicle, or the relative distance and the relative speed between the front vehicle and the vehicle exceed a target vehicle following distance. During cruise control, the vehicle will keep running at the set desired speed, i.e. at a certain acceleration.

The following control means that a preceding vehicle exists within a preset distance from the front of the vehicle, and in order to ensure a safe following distance between the vehicle and the preceding vehicle, the vehicle needs to be subjected to speed control, such as deceleration, so as to ensure that the relative distance between the preceding vehicle and the vehicle is within a target following distance.

In order to obtain the first speed, the second speed and the distance information, the information acquisition device in the embodiment of the present application may specifically be various sensors, for example, a speed sensor capable of detecting a speed of a host vehicle and a speed of a leading vehicle is installed in an autonomous driving vehicle, and a distance sensor capable of detecting a distance between the leading vehicle and the host vehicle is also installed in the autonomous driving vehicle. The method comprises the steps of acquiring a first vehicle speed of a self vehicle, a second vehicle speed of a front vehicle and a vehicle distance between the front vehicle and the self vehicle through sensors.

S204: determining a relative speed and a relative distance between the automatic driving vehicle and a front vehicle according to the first speed, the second speed and the distance;

after the vehicle speed and the distance are obtained through the sensor, the relative vehicle speed and the relative vehicle distance between the front vehicle and the self vehicle need to be calculated according to the vehicle speed and the distance. And if the relative speed is greater than zero, the speed of the front vehicle is greater than the speed of the self vehicle, namely the front vehicle is faster than the self vehicle, and at the moment, the relative distance is gradually increased due to the fact that the speed of the front vehicle is higher.

If the relative speed is less than zero, it means that the speed of the front vehicle is less than the speed of the self vehicle, i.e. the front vehicle is slower than the self vehicle, and at this time, the relative distance between the two vehicles is gradually reduced.

S206: determining the running state of the automatic driving vehicle according to the relative speed, the relative distance and a preset running state curve; the preset running state curve is generated according to historical relative speed and historical relative distance, and the running state at least comprises a cruise control state, a sliding control state and a following control state;

in order to obtain the preset driving state curve, firstly distance information and speed information in a certain historical time period need to be obtained, and a curve capable of reflecting the relative distance and the relative speed is drawn according to a relation function between the distance information and the speed information. Based on the drawn preset driving state curve, at the current time or any time after the current time, after the relative speed and the relative distance between the automatic driving vehicle and the front vehicle are detected, it can be determined which part of the preset driving state curve the automatic driving vehicle is located in, such as above the curve, in the curve or below the curve, and different positions of the curve represent the relative relation between the vehicle and the front vehicle, for example, if the distance is far and the speed of the front vehicle is faster than that of the vehicle, the vehicle is in a cruise control state and can continue to drive without decelerating, and if the distance is close and the speed of the front vehicle is slower than that of the vehicle, it is indicated that the vehicle is in a following control state and needs to decelerate by braking or coasting.

S208: and if the running state is a coasting control state, controlling the autonomous vehicle to perform deceleration running at the coasting deceleration.

The sliding control state refers to a mode that when the vehicle speed reaches a certain speed, the accelerator is released, and the vehicle slides by the drag resistance of the engine. The brake can be used for deceleration in case of no emergency, and the brake is prevented from being excessively used. The deceleration during coasting with gear is the coasting deceleration.

According to the control method of the automatic driving vehicle, firstly, the relative speed and the relative distance of the vehicle and the front vehicle are determined according to the acquired first vehicle speed, second vehicle speed and vehicle distance information, the driving state of the vehicle is determined according to the relative speed, the relative distance and a preset driving state curve, and when the vehicle is in a sliding control state, the vehicle is controlled to decelerate at a sliding deceleration without braking deceleration, so that frequent switching between driving and braking is avoided, oil consumption is effectively saved, and the sliding deceleration is used between driving and braking to decelerate stably, so that the riding experience of passengers is improved.

In some possible embodiments, if the driving state is determined to be the cruise control state, it indicates that the vehicle is far away from the preceding vehicle or there is no preceding vehicle, and then the current speed can be maintained to continue driving without deceleration, and if the driving state is determined to be the following control state, it indicates that the target vehicle distance needs to be maintained, and it is avoided that the vehicle distance is too close and the braking deceleration needs to be adopted, so the method may further include:

(1) if the driving state is the cruise control state, controlling the automatic driving vehicle to drive at the current acceleration;

(2) if the running state is the following control state, controlling the automatic driving vehicle to perform deceleration running at the set deceleration; wherein the set deceleration is greater than the coasting deceleration.

Therefore, in the braking and accelerating switching process of the automatic driving vehicle, the sliding deceleration is added, so that excessive oil consumption caused by frequent braking and acceleration is avoided, and the energy-saving effect is achieved.

Fig. 3 illustrates another control method for an autonomous vehicle according to an embodiment of the present application, which focuses on how to determine a driving state of the autonomous vehicle according to a preset driving state curve, and as shown in fig. 3, the method specifically includes the following steps:

s302: acquiring a first speed of an automatic driving vehicle, a second speed of a front vehicle and a vehicle distance between the automatic driving vehicle and the front vehicle;

s304: determining a relative speed and a relative distance between the automatic driving vehicle and a front vehicle according to the first speed, the second speed and the distance;

the steps S302 to S304 are similar to the steps S202 to S204 in the above embodiments of the present application, and are not repeated herein.

S306: dividing a preset coordinate system into a cruise control area, a sliding control area and a following control area according to a preset driving state curve; the preset coordinate system is a coordinate system which is formed by taking the relative speed of the automatic driving vehicle and the front vehicle as an abscissa and the relative vehicle distance of the automatic driving vehicle and the front vehicle as an ordinate;

and taking the relative speed as an abscissa and the relative vehicle distance as an ordinate to form a preset coordinate system, wherein the origin of the preset coordinate system is zero for both the relative speed and the relative vehicle distance. It is understood that if the relative distance is negative, it indicates that the leading vehicle is behind the host vehicle, and therefore this is not considered in the embodiments of the present application, i.e., the embodiments of the present application consider only the division of the respective regions in the two quadrants with the ordinate greater than zero.

Specifically, each region in the preset coordinate system may be divided as follows:

in a target quadrant in a preset coordinate system, determining an area formed by coordinate points of which the relative vehicle distance is between 0 and a preset driving state curve as a vehicle following control area; determining an area formed by coordinate points of the relative vehicle distance between the preset driving state curve and the specified straight line as a sliding control area; and determining the slope of the designated straight line based on a preset driving state curve and the maximum detection distance corresponding to the automatic driving vehicle, and determining other areas except the following control area and the sliding control area in the target quadrant as cruise control areas.

S308: determining the running state of the automatic driving vehicle according to the area where the coordinate points of the relative speed and the relative distance in the preset coordinate system are located;

after the relative speed and the relative distance are obtained through detection and calculation of the sensor, a coordinate point corresponding to the relative distance and the relative speed can be found in a preset coordinate system, and the running state of the automatic driving vehicle is determined by judging the area to which the coordinate point belongs.

How to determine the preset driving state curve and how to determine the respective control regions in the preset coordinate system will be described in detail below with reference to fig. 4. Fig. 4 is a schematic diagram of a preset coordinate system, in which the maximum detection distance of the sensor is first set, and in the embodiment of the present application, taking 100m as an example, the current expected following distance (Ddesired) is obtained according to the set time distance of the driver and the speed of the vehicle:

Ddesired＝Vego*TimeGapset+Dsafe

a preset running state curve as shown in fig. 4 is constructed by the following formula with the vertical axis (Drel) as the relative distance between the preceding vehicle and the own vehicle and the horizontal axis (Vrel) as the relative speed between the preceding vehicle and the own vehicle.

The above formula expresses the relationship between the distance, the speed and the deceleration when the self vehicle slides, and the switching between following and cruising needs to be divided according to the curve. In the above formula, a _decel Connecting the intersection points of the constructed curves and the maximum detection distance and (0, D) for the retarded sliding deceleration of the host vehicle _desired ) And extended to obtain a straight line as in fig. 4.

In fig. 4, the intersection point of two lines with respect to the left area in two quadrants where the vehicle distance is greater than zero can be divided into three areas on the right, which correspond to the cruise control area (i), the coasting control area (left shaded area) (ii), and the following control area (iii), respectively. In the cruise control area, the vehicle can normally run according to the current set speed, when the vehicle runs to the area with gear and slides, the speed reduction of the vehicle with gear and slide is utilized, the vehicle can reduce the speed of the vehicle to reach the distance between the following vehicles of the expected control by reducing the driving torque of the vehicle under the condition of losing the minimum kinetic energy of the vehicle, and therefore the smooth switching between the following vehicle control and the cruise control can be achieved without sending the braking speed reduction. If the current vehicle following control area is located below the sliding control area with the gear, the target vehicle following distance cannot be safely reached only by the sliding of the vehicle with the gear, which reduces the torque, at the moment, so that the area is defined as the vehicle following control area, and the target vehicle following distance can be safely reached only by additional braking of a vehicle braking system.

In fig. 4, a minimum following distance line (a straight line parallel to the abscissa on the right side of fig. 4) is set in the right side area of two quadrants where the relative vehicle distance is greater than zero, and at this time, since the speed of the front vehicle is faster than that of the self vehicle, the relative distance between the two vehicles is increased, so that the vehicles in the area (the fifth) above the minimum following distance line are set as a cruise control area, and the vehicles do not need to be additionally braked in the area; and in the area (shadow area r) below the minimum following distance line, because the relative distance between the front vehicle and the self vehicle is too close, extra braking is needed to pull the relative distance to meet the requirement of safe driving, and the area is set as a following control area.

Bolded in FIG. 4The oblique line of (A) represents the expected control following distance D of following vehicles at different relative vehicle speeds _DesiredCtrl The expression form can be obtained according to mathematical calculation:

D _rel ＝T*Vrel+D _desired

the slope T of the line can be determined by constructing the intersection point (V) of the curve and the maximum detection distance _rel 100) and (0, D) _desired ) Two points are directly obtained. Therefore, the method can utilize the coasting deceleration of the vehicle with the gear to the maximum extent, achieve the stable switching between the cruise control and the following control, and simultaneously improve the fuel economy of the vehicle in the running process.

S310: and if the running state is a coasting control state, controlling the autonomous vehicle to perform deceleration running at the coasting deceleration.

In the embodiment, the preset coordinate system is divided into the cruise control area, the sliding control area and the following control area through the preset running state curve, in the specific driving process, the running state of the vehicle can be quickly and accurately judged only by judging the area in which the coordinate point corresponding to the current relative speed and the current relative distance falls, and then different deceleration strategies are adopted.

Because the driving habits of the automatic driving vehicles are different, some automatic driving vehicles are conservative, the driving and riding processes are expected to be relatively gentle, the behaviors of some automatic driving vehicles are relatively aggressive, and the driving speed of the vehicle is expected to be relatively high, the embodiment of the application adopts a strategy of graded braking in the driving process under the following control state in order to improve the riding experience of passengers. The method specifically comprises the following steps A10-A12:

a10: dividing a following control area into at least two sub-areas according to historical driving information of the automatic driving vehicle; the historical driving information of the automatic driving vehicle is used for representing the driving habit of the automatic driving vehicle, and the maximum relative distance corresponding to the first sub-area in any two adjacent sub-areas is equal to the minimum relative distance corresponding to the second sub-area;

specifically, the following control area may be divided into two or more sub-areas according to different driving habits, for example, the driving behavior is more aggressive, the following control area may be divided into 4 sub-areas, and if the driving behavior is more conservative, the following control area may be divided into 2 sub-areas. Based on this, the step a10 may specifically include:

(1) determining a driving attribute according to historical driving information of the autonomous vehicle; the driving attributes comprise conservative attributes and aggressive attributes;

(2) determining the number of sub-regions in the following control region according to the driving attributes, wherein the number of the sub-regions corresponding to the conservative attributes is smaller than the number of the sub-regions corresponding to the aggressive attributes;

(3) and dividing the following vehicle control area into a plurality of sub-areas according to the determined number of the sub-areas.

A12: when the relative vehicle distance corresponding to the automatic driving vehicle is located in the target sub-area, the deceleration of the automatic driving vehicle is larger than the minimum deceleration corresponding to the target sub-area.

According to the motivation degree of the following type set by the algorithm, different grading braking strategies can be set. Dividing the current target vehicle following distance into N areas according to different grading braking strategies, wherein the first area is a vehicle sliding with gear following control area, and in the area, because the difference between the actual vehicle following distance and the target vehicle following distance of the vehicle is smaller, the maximum braking deceleration lower limit is set as the vehicle sliding with gear of the vehicle, so that the vehicle following distance can be achieved on the premise of meeting the fuel economy; the second area is a comfortable deceleration following control area, the vehicle in the area needs to be braked to meet the set following distance of the driver, the comfortable experience of the driver and passengers is considered, and the lower limit of the deceleration in the area is the comfortable deceleration; the comfortable deceleration is a deceleration which is larger than the self-vehicle sliding deceleration, can achieve better deceleration effect and enables the driver to ride comfortably.

The subsequent area is a safe deceleration area which can be adjusted according to the driving style of the driver, when the driving style is relatively kept, the deceleration grade set in the area is relatively sparse, and if the driving style of the driver is relatively aggressive, the deceleration grade set in the secondary area is relatively dense.

As shown in fig. 5, the following area is divided into three areas, a first safety braking area, a second safety braking area and a third safety braking area according to the historical driving information of the autonomous vehicle, specifically, the first safety braking area may be set to the front 1/3 of the desired control of the following distance, the second safety braking area may be the middle of the desired control of the following distance, and the third safety braking area is set to the last 1/3 of the desired control of the following distance.

Therefore, the riding experience of a driver and passengers can be guaranteed to the maximum extent on the premise of guaranteeing safety. Meanwhile, the division of the sliding control area with the gear and the comfortable deceleration area can be adjusted timely according to the driving style of the driver.

Further, the ratio of each area can be adjusted according to different driving habits. Based on this, the above method provided by the embodiment of the present application may further include:

adjusting the proportion of the cruise control area, the coasting control area and the following control area according to historical driving information of the automatically-driven vehicle; wherein the historical driving information is used to characterize driving habits of the autonomous vehicle.

For example, the driver is conservative, the area of the coasting with gear and the comfortable braking can be set to be narrow, the area of the safe braking is wider and less graded (i.e. the deceleration of the safe braking is set to be relatively larger), and thus the following distance can be better maintained. The driver is more aggressive, the area of coasting with gear and comfort braking can be set wider, and the area of safety braking can be more graduated, so that the time for the following distance to return to the desired distance is longer, but the braking is less in comparison.

According to the embodiment, the occupation ratio of the sliding control area and the cruise control area is adjusted, and the following control area is divided into more detailed sub-areas according to the driving habits, so that the driving process is more consistent with the behavior habits of the driver, and the driving and riding feelings are effectively improved.

Fig. 6 is a flowchart of a control method for automatically driving a vehicle in an actual application scenario, where as shown in fig. 6, the method specifically includes the following steps:

s602: dividing a following control area into 4 areas, namely a comfortable deceleration area, a first safe deceleration area, a second safe deceleration area and a third safe deceleration area, according to the historical behavior information of the vehicle;

s604: and judging whether the vehicle is in a sliding area with a gear or not according to a preset running state curve and the current relative distance and relative speed of the vehicle. If yes, executing step S620, otherwise, executing step S606;

s606: judging whether the vehicle is in a comfortable deceleration area, if so, executing step 618, otherwise, executing step 608;

s608: judging whether the vehicle is in a first safe deceleration area, if so, executing a step S616, otherwise, executing a step S610;

s610: judging whether the vehicle is in a second safe deceleration area, if so, executing a step S614, otherwise, executing a step S612;

s612: performing deceleration running using the third safe deceleration as a deceleration lower limit;

s614: performing deceleration running using the second safe deceleration as a deceleration lower limit;

s616: performing deceleration running using the first safe deceleration as a deceleration lower limit;

s618: performing deceleration running using the comfort deceleration as a deceleration lower limit;

s620: the deceleration running is performed using the coasting deceleration with gear as the deceleration.

Based on the above method embodiment, the present application further provides an autonomous vehicle control apparatus, as shown in fig. 7, which is applied to a controller of an autonomous vehicle, and includes:

an obtaining module 702, configured to obtain a first vehicle speed of an autonomous vehicle, a second vehicle speed of a preceding vehicle, and a vehicle distance between the autonomous vehicle and the preceding vehicle;

a relative information determination module 704, configured to determine a relative vehicle speed and a relative vehicle distance between the autonomous vehicle and the preceding vehicle according to the first vehicle speed, the second vehicle speed, and the vehicle distance;

a driving state determination module 706 configured to determine a driving state of the autonomous vehicle according to the relative vehicle speed, the relative vehicle distance, and a preset driving state curve; the preset running state curve is generated according to historical relative speed and historical relative distance, and the running state at least comprises a cruise control state, a sliding control state and a following control state;

and a control module 708 for controlling the autonomous vehicle to perform deceleration running at the coasting deceleration if the running state is the coasting control state.

According to the automatic driving vehicle control device provided by the embodiment of the application, the relative speed and the relative distance between the vehicle and the front vehicle are determined according to the acquired first speed, second speed and distance information, the driving state of the vehicle is determined according to the relative speed, the relative distance and a preset driving state curve, and when the vehicle is in the sliding control state, the vehicle is controlled to decelerate at the sliding deceleration without braking deceleration, so that frequent switching between driving and braking is avoided, the oil consumption is effectively saved, the sliding deceleration is used between driving and braking to decelerate stably, and the riding experience of a rider is improved.

The above apparatus is also for: if the driving state is the cruise control state, controlling the automatic driving vehicle to drive at the current acceleration; if the running state is the following control state, controlling the automatic driving vehicle to perform deceleration running at the set deceleration; wherein the set deceleration is greater than the coasting deceleration.

The driving state determination module 706 is further configured to: dividing a preset coordinate system into a cruise control area, a sliding control area and a following control area according to a preset driving state curve; the preset coordinate system is a coordinate system which is formed by taking the relative speed of the automatic driving vehicle and the front vehicle as an abscissa and the relative vehicle distance of the automatic driving vehicle and the front vehicle as an ordinate; and determining the running state of the automatic driving vehicle according to the area where the coordinate points of the relative speed and the relative distance in the preset coordinate system are located.

The above-mentioned process of dividing the preset coordinate system into the cruise control area, the coasting control area and the following control area according to the preset driving state curve includes: in a target quadrant in a preset coordinate system, determining an area formed by coordinate points of which the relative vehicle distance is between 0 and a preset driving state curve as a vehicle following control area; determining an area formed by coordinate points of the relative vehicle distance between the preset driving state curve and the specified straight line as a sliding control area; wherein the slope of the designated line is determined based on a preset driving state curve and a maximum detection distance corresponding to the autonomous vehicle; the other regions in the target quadrant except for the following control region and the coasting control region are determined as the cruise control region.

The above apparatus is also for: dividing a following control area into at least two sub-areas according to historical driving information of the automatic driving vehicle; the historical driving information is used for representing the driving habits of a driver, and the maximum relative distance corresponding to the first sub-area in any two adjacent sub-areas is equal to the minimum relative distance corresponding to the second sub-area; and when the relative distance corresponding to the automatic driving vehicle is positioned in the target subarea, controlling the deceleration of the automatic driving vehicle to be larger than the minimum deceleration corresponding to the target subarea.

The process of dividing the following control area into at least two sub-areas according to the historical driving information includes: determining a driving attribute from historical driving information of the autonomous vehicle; the driving attributes comprise conservative attributes and aggressive attributes; determining the number of sub-regions in the following control region according to the driving attributes, wherein the number of the sub-regions corresponding to the conservative attribute is smaller than the number of the sub-regions corresponding to the aggressive attribute; and dividing the car following control area into a plurality of sub-areas according to the number of the determined sub-areas.

The above apparatus is also for: adjusting the occupation ratio of a cruise control area, a coasting control area and a following control area according to historical driving information of the automatically driven vehicle; wherein the historical driving information is used to characterize driving habits of the autonomous vehicle.

The implementation principle and the resulting technical effects of the control device for an autonomous vehicle provided in the embodiments of the present application are the same as those of the embodiments of the foregoing method, and for the sake of brief description, reference may be made to the corresponding contents in the embodiments of the control method for an autonomous vehicle where no portion of the embodiments of the foregoing device is mentioned.

An embodiment of the present application further provides an electronic device, as shown in fig. 7, which is a schematic structural diagram of the electronic device, where the electronic device includes a processor 1501 and a memory 1502, the memory 1502 stores computer-executable instructions that can be executed by the processor 1501, and the processor 1501 executes the computer-executable instructions to implement the above-mentioned autonomous vehicle control method.

In the embodiment shown in fig. 7, the electronic device further comprises a bus 1503 and a communication interface 1504, wherein the processor 1501, the communication interface 1504 and the memory 1502 are connected by the bus 1503.

The Memory 1502 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is implemented through at least one communication interface 1504 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like may be used. The bus 1503 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 1503 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.

Processor 1501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 1501. The Processor 1501 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in ram, flash, rom, prom, or eprom, registers, etc. as is well known in the art. The storage medium is located in a memory, and the processor 1501 reads information in the memory, and completes the steps of the autonomous vehicle control method of the foregoing embodiment in combination with hardware thereof.

The embodiment of the present application further provides a computer-readable storage medium, where computer-executable instructions are stored, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above method for controlling an automatic driving vehicle, and specific implementation can refer to the foregoing method embodiment, and details are not repeated here.

The method, the apparatus, and the computer program product for controlling an autonomous vehicle provided in the embodiments of the present application include a computer-readable storage medium storing program codes, where instructions included in the program codes may be used to execute the methods described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.

Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.

The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-transitory computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An autonomous vehicle control method applied to a controller of an autonomous vehicle, the method comprising:

acquiring a first speed of the automatic driving vehicle, a second speed of a front vehicle and a vehicle distance between the automatic driving vehicle and the front vehicle;

determining a relative speed and a relative distance between the automatic driving vehicle and the front vehicle according to the first speed, the second speed and the distance;

determining the running state of the automatic driving vehicle according to the relative speed, the relative distance and a preset running state curve; the preset running state curve is generated according to historical relative vehicle speed and historical relative vehicle distance, and the running state at least comprises a cruise control state, a sliding control state and a following control state;

and if the running state is the coasting control state, controlling the autonomous vehicle to run at a coasting deceleration with a decelerated deceleration.

2. The method of claim 1, further comprising:

controlling the autonomous vehicle to travel at a current acceleration if the travel state is the cruise control state;

if the running state is the following control state, controlling the automatic driving vehicle to perform deceleration running at a set deceleration; wherein the set deceleration is greater than the coasting deceleration.

3. The method of claim 1, wherein determining the driving state of the autonomous vehicle based on the relative vehicle speed, the relative vehicle distance, and a preset driving state curve comprises:

dividing a preset coordinate system into a cruise control area, a sliding control area and a following control area according to a preset driving state curve; the preset coordinate system is a coordinate system which is formed by taking the relative speed of the automatic driving vehicle and the front vehicle as an abscissa and taking the relative distance between the automatic driving vehicle and the front vehicle as an ordinate;

and determining the running state of the automatic driving vehicle according to the area where the coordinate points of the relative speed and the relative distance in the preset coordinate system are located.

4. The method according to claim 3, wherein the step of dividing the preset coordinate system into a cruise control region, a coasting control region, and a following control region according to the preset driving state curve comprises:

in a target quadrant in a preset coordinate system, determining an area formed by coordinate points of which the relative distance is between 0 and a preset driving state curve as a following control area;

determining an area formed by coordinate points of the relative distance between the preset driving state curve and the specified straight line as a sliding control area; wherein the slope of the designated line is determined based on a preset driving state curve and a maximum detection distance corresponding to the autonomous vehicle;

determining the other regions except the following control region and the coasting control region in the target quadrant as cruise control regions.

5. The method of claim 3, further comprising:

dividing the following control area into at least two sub-areas according to the historical driving information of the automatic driving vehicle; the historical driving information is used for representing the driving habits of a driver, and the maximum relative distance corresponding to a first sub-area in any two adjacent sub-areas is equal to the minimum relative distance corresponding to a second sub-area;

and when the relative distance corresponding to the automatic driving vehicle is positioned in a target subarea, controlling the deceleration of the automatic driving vehicle to be larger than the minimum deceleration corresponding to the target subarea.

6. The method of claim 5, wherein the step of dividing the following control area into at least two sub-areas according to historical driving information comprises:

determining a driving attribute from historical driving information of the autonomous vehicle; wherein the driving attributes comprise conservative attributes and aggressive attributes;

determining the number of sub-regions in the following control region according to the driving attributes, wherein the number of the sub-regions corresponding to the conservative attribute is smaller than the number of the sub-regions corresponding to the aggressive attribute;

and dividing the following control area into a plurality of sub-areas according to the determined number of the sub-areas.

7. The method of claim 3, further comprising:

adjusting the proportion of the cruise control area, the coasting control area and the following control area according to historical driving information of the automatic driving vehicle; wherein the historical driving information is used to characterize driving habits of the autonomous vehicle.

8. An autonomous vehicle control apparatus, characterized in that the apparatus is applied to a controller of an autonomous vehicle, the apparatus comprising:

the acquisition module is used for acquiring a first vehicle speed of the automatic driving vehicle, a second vehicle speed of a front vehicle and a vehicle distance between the automatic driving vehicle and the front vehicle;

the relative information determining module is used for determining the relative speed and the relative distance between the automatic driving vehicle and the front vehicle according to the first speed, the second speed and the distance;

the driving state determining module is used for determining the driving state of the automatic driving vehicle according to the relative speed, the relative distance and a preset driving state curve; the preset running state curve is generated according to historical relative vehicle speed and historical relative vehicle distance, and the running state at least comprises a cruise control state, a sliding control state and a following control state;

and the control module is used for controlling the automatic driving vehicle to perform deceleration driving at the coasting deceleration if the driving state is the coasting control state.

9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1-7.

10. A computer-readable storage medium having computer-executable instructions stored thereon that, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1-7.